Design And Implementation Of Cleaning Robot Motion Control System And Ultrasonic Localization System

With the rapid development of information technology, especially the development of computer science and network technology, now the robot technology are not only used in the industrial circle, it also gradually expanded into other areas, such as service, entertainment, exploration, medical, etc. It develops extremely fast. This thesis designs and Implements the motion system and ultrasonic localization system. The main controller of this system is a C8051f020 MCU. It is the core of the mobile robot, which is used to coordinate every system function module, such as motion system and sensor system. This thesis mainly illustrates the overall design idea for cleaning robot motion control system and ultrasonic localization system and the methods to achieve it.Motion control system is the core module which is the basis to achieve other modules, this paper establishes the kinematics model of the robot chassis. In this paper, the PWM and L298 drive plate drive the motor system and the digital PID control algorithm is applied to the motion control, constituting a closed-loop control system. Experimental results show that the control system can effectively reduce the error of rectilinear motion.Ultrasonic localization system aims to realize the function for the robot locating itself indoor, which is based on the principles of ultrasonic distance measuring. This robot system uses STC11f04e to control ultrasonic localization system module. In order to maximum coverage, this paper combines three sensor-senor coverage, two-sensor and single-sensor coverage and makes up for the inadequacy of coverage through the relative coordinates of the robot. The thesis first gives the principles of ultrasonic sensor localization and overall thought and then elaborates the system software and hardware designing methods. Finally in the test which is conducted in self-developed ultrasonic transceiver system, the data shows that the system can complete the whole coverage efficiently, reducing blind area and the error is within 13 cm.